mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-24 15:40:31 +08:00
delete unused imu/bmi160
This commit is contained in:
Daniel Agar
@@ -68,7 +68,6 @@
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#define DRV_ACC_DEVTYPE_MPU6000_LEGACY 0x13
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#define DRV_IMU_DEVTYPE_SIM 0x14
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#define DRV_ACC_DEVTYPE_MPU9250_LEGACY 0x16
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#define DRV_IMU_DEVTYPE_BMI160 0x17
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#define DRV_IMU_DEVTYPE_MPU6000 0x21
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#define DRV_GYR_DEVTYPE_L3GD20 0x22
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@@ -36,7 +36,6 @@ add_subdirectory(adis16497)
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add_subdirectory(analog_devices)
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add_subdirectory(bmi055)
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add_subdirectory(bmi088)
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add_subdirectory(bmi160)
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add_subdirectory(fxas21002c)
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add_subdirectory(fxos8701cq)
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add_subdirectory(icm20948)
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@@ -1,45 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
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||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
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||||
#
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||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__bmi160
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MAIN bmi160
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COMPILE_FLAGS
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-Wno-cast-align # TODO: fix and enable
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SRCS
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bmi160.cpp
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bmi160_main.cpp
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DEPENDS
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px4_work_queue
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drivers_accelerometer
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drivers_gyroscope
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)
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File diff suppressed because it is too large
Load Diff
@@ -1,375 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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||||
* are met:
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||||
*
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* 1. Redistributions of source code must retain the above copyright
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||||
* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
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||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
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||||
* without specific prior written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <drivers/device/spi.h>
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#include <ecl/geo/geo.h>
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#include <lib/conversion/rotation.h>
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#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <perf/perf_counter.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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#include <systemlib/conversions.h>
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#define DIR_READ 0x80
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#define DIR_WRITE 0x00
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// BMI 160 registers
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#define BMIREG_CHIP_ID 0x00
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#define BMIREG_ERR_REG 0x02
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#define BMIREG_PMU_STATUS 0x03
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#define BMIREG_DATA_0 0x04
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#define BMIREG_DATA_1 0x05
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#define BMIREG_DATA_2 0x06
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#define BMIREG_DATA_3 0x07
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#define BMIREG_DATA_4 0x08
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#define BMIREG_DATA_5 0x09
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#define BMIREG_DATA_6 0x0A
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#define BMIREG_DATA_7 0x0B
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#define BMIREG_GYR_X_L 0x0C
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#define BMIREG_GYR_X_H 0x0D
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#define BMIREG_GYR_Y_L 0x0E
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#define BMIREG_GYR_Y_H 0x0F
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#define BMIREG_GYR_Z_L 0x10
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#define BMIREG_GYR_Z_H 0x11
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#define BMIREG_ACC_X_L 0x12
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#define BMIREG_ACC_X_H 0x13
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#define BMIREG_ACC_Y_L 0x14
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#define BMIREG_ACC_Y_H 0x15
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#define BMIREG_ACC_Z_L 0x16
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#define BMIREG_ACC_Z_H 0x17
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#define BMIREG_SENSORTIME0 0x18
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#define BMIREG_SENSORTIME1 0x19
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#define BMIREG_SENSORTIME2 0x1A
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#define BMIREG_STATUS 0x1B
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#define BMIREG_INT_STATUS_0 0x1C
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#define BMIREG_INT_STATUS_1 0x1D
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#define BMIREG_INT_STATUS_2 0x1E
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#define BMIREG_INT_STATUS_3 0x1F
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#define BMIREG_TEMP_0 0x20
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#define BMIREG_TEMP_1 0x21
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#define BMIREG_FIFO_LEN_0 0x22
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#define BMIREG_FIFO_LEN_1 0x23
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#define BMIREG_FIFO_DATA 0x24
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#define BMIREG_ACC_CONF 0x40
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#define BMIREG_ACC_RANGE 0x41
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#define BMIREG_GYR_CONF 0x42
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#define BMIREG_GYR_RANGE 0x43
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#define BMIREG_MAG_CONF 0x44
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#define BMIREG_FIFO_DOWNS 0x45
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#define BMIREG_FIFO_CONFIG_0 0x46
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#define BMIREG_FIFO_CONFIG_1 0x47
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#define BMIREG_MAG_IF_0 0x4B
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#define BMIREG_MAG_IF_1 0x4C
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#define BMIREG_MAG_IF_2 0x4D
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#define BMIREG_MAG_IF_3 0x4E
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#define BMIREG_MAG_IF_4 0x4F
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#define BMIREG_INT_EN_0 0x50
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#define BMIREG_INT_EN_1 0x51
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#define BMIREG_INT_EN_2 0x52
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#define BMIREG_INT_OUT_CTRL 0x53
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#define BMIREG_INT_LANTCH 0x54
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#define BMIREG_INT_MAP_0 0x55
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#define BMIREG_INT_MAP_1 0x56
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#define BMIREG_INT_MAP_2 0x57
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#define BMIREG_INT_DATA_0 0x58
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#define BMIREG_INT_DATA_1 0x59
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#define BMIREG_INT_LH_0 0x5A
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#define BMIREG_INT_LH_1 0x5B
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#define BMIREG_INT_LH_2 0x5C
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#define BMIREG_INT_LH_3 0x5D
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#define BMIREG_INT_LH_4 0x5E
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#define BMIREG_INT_MOT_0 0x5F
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#define BMIREG_INT_MOT_1 0x60
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#define BMIREG_INT_MOT_2 0x61
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#define BMIREG_INT_MOT_3 0x62
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#define BMIREG_INT_TAP_0 0x63
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#define BMIREG_INT_TAP_1 0x64
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#define BMIREG_INT_ORIE_0 0x65
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#define BMIREG_INT_ORIE_1 0x66
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#define BMIREG_INT_FLAT_0 0x67
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#define BMIREG_INT_FLAT_1 0x68
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#define BMIREG_FOC_CONF 0x69
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#define BMIREG_CONF 0x6A
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#define BMIREG_IF_CONF 0x6B
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#define BMIREG_PMU_TRIGGER 0x6C
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#define BMIREG_SELF_TEST 0x6D
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#define BMIREG_NV_CONF 0x70
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#define BMIREG_OFFSET_ACC_X 0x71
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#define BMIREG_OFFSET_ACC_Y 0x72
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#define BMIREG_OFFSET_ACC_Z 0x73
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#define BMIREG_OFFSET_GYR_X 0x74
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#define BMIREG_OFFSET_GYR_Y 0x75
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#define BMIREG_OFFSET_GYR_Z 0x76
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#define BMIREG_OFFSET_EN 0x77
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#define BMIREG_STEP_CONT_0 0x78
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#define BMIREG_STEP_CONT_1 0x79
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#define BMIREG_STEP_CONF_0 0x7A
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#define BMIREG_STEP_CONF_1 0x7B
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#define BMIREG_CMD 0x7E
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// Configuration bits BMI 160
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#define BMI160_WHO_AM_I 0xD1
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//BMIREG_STATUS 0x1B
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#define BMI_DRDY_ACCEL (1<<7)
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#define BMI_DRDY_GYRO (1<<6)
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#define BMI_DRDY_MAG (1<<5)
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#define BMI_GYRO_SELF_TEST_OK (1<<1)
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//BMIREG_INT_STATUS_1 0x1D
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#define BMI_DRDY_INT (1<<4)
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//BMIREG_ACC_CONF 0x40
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#define BMI_ACCEL_RATE_25_32 (0<<3) | (0<<2) | (0<<1) | (1<<0)
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#define BMI_ACCEL_RATE_25_16 (0<<3) | (0<<2) | (1<<1) | (0<<0)
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#define BMI_ACCEL_RATE_25_8 (0<<3) | (0<<2) | (1<<1) | (1<<0)
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#define BMI_ACCEL_RATE_25_4 (0<<3) | (1<<2) | (0<<1) | (0<<0)
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#define BMI_ACCEL_RATE_25_2 (0<<3) | (1<<2) | (0<<1) | (1<<0)
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#define BMI_ACCEL_RATE_25 (0<<3) | (1<<2) | (1<<1) | (0<<0)
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#define BMI_ACCEL_RATE_50 (0<<3) | (1<<2) | (1<<1) | (1<<0)
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#define BMI_ACCEL_RATE_100 (1<<3) | (0<<2) | (0<<1) | (0<<0)
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#define BMI_ACCEL_RATE_200 (1<<3) | (0<<2) | (0<<1) | (1<<0)
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#define BMI_ACCEL_RATE_400 (1<<3) | (0<<2) | (1<<1) | (0<<0)
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#define BMI_ACCEL_RATE_800 (1<<3) | (0<<2) | (1<<1) | (1<<0)
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#define BMI_ACCEL_RATE_1600 (1<<3) | (1<<2) | (0<<1) | (0<<0)
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#define BMI_ACCEL_US (0<<7)
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#define BMI_ACCEL_BWP_NORMAL (0<<6) | (1<<5) | (0<<4)
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#define BMI_ACCEL_BWP_OSR2 (0<<6) | (0<<5) | (1<<4)
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#define BMI_ACCEL_BWP_OSR4 (0<<6) | (0<<5) | (0<<4)
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//BMIREG_ACC_RANGE 0x41
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#define BMI_ACCEL_RANGE_2_G (0<<3) | (0<<2) | (1<<1) | (1<<0)
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#define BMI_ACCEL_RANGE_4_G (0<<3) | (1<<2) | (0<<1) | (1<<0)
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#define BMI_ACCEL_RANGE_8_G (1<<3) | (0<<2) | (0<<1) | (0<<0)
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#define BMI_ACCEL_RANGE_16_G (1<<3) | (1<<2) | (0<<1) | (0<<0)
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//BMIREG_GYR_CONF 0x42
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#define BMI_GYRO_RATE_25 (0<<3) | (1<<2) | (1<<1) | (0<<0)
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#define BMI_GYRO_RATE_50 (0<<3) | (1<<2) | (1<<1) | (1<<0)
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#define BMI_GYRO_RATE_100 (1<<3) | (0<<2) | (0<<1) | (0<<0)
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#define BMI_GYRO_RATE_200 (1<<3) | (0<<2) | (0<<1) | (1<<0)
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#define BMI_GYRO_RATE_400 (1<<3) | (0<<2) | (1<<1) | (0<<0)
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#define BMI_GYRO_RATE_800 (1<<3) | (0<<2) | (1<<1) | (1<<0)
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#define BMI_GYRO_RATE_1600 (1<<3) | (1<<2) | (0<<1) | (0<<0)
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#define BMI_GYRO_RATE_3200 (1<<3) | (1<<2) | (0<<1) | (1<<0)
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#define BMI_GYRO_BWP_NORMAL (1<<5) | (0<<4)
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#define BMI_GYRO_BWP_OSR2 (0<<5) | (1<<4)
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#define BMI_GYRO_BWP_OSR4 (0<<5) | (0<<4)
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//BMIREG_GYR_RANGE 0x43
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#define BMI_GYRO_RANGE_2000_DPS (0<<2) | (0<<1) | (0<<0)
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#define BMI_GYRO_RANGE_1000_DPS (0<<2) | (0<<1) | (1<<0)
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#define BMI_GYRO_RANGE_500_DPS (0<<2) | (1<<1) | (0<<0)
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#define BMI_GYRO_RANGE_250_DPS (0<<2) | (1<<1) | (1<<0)
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#define BMI_GYRO_RANGE_125_DPS (1<<2) | (0<<1) | (0<<0)
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//BMIREG_INT_EN_1 0x51
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#define BMI_DRDY_INT_EN (1<<4)
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//BMIREG_INT_OUT_CTRL 0x53
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#define BMI_INT1_EN (1<<3) | (0<<2) | (1<<1) //Data Ready on INT1 High
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//BMIREG_INT_MAP_1 0x56
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#define BMI_DRDY_INT1 (1<<7)
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//BMIREG_IF_CONF 0x6B
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#define BMI_SPI_3_WIRE (1<<0)
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#define BMI_SPI_4_WIRE (0<<0)
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#define BMI_AUTO_DIS_SEC (0<<5) | (0<<4)
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#define BMI_I2C_OIS_SEC (0<<5) | (1<<4)
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#define BMI_AUTO_MAG_SEC (1<<5) | (0<<4)
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|
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//BMIREG_NV_CONF 0x70
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#define BMI_SPI (1<<0)
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|
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//BMIREG_CMD 0x7E
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#define BMI_ACCEL_NORMAL_MODE 0x11 //Wait at least 3.8 ms before another CMD
|
||||
#define BMI_GYRO_NORMAL_MODE 0x15 //Wait at least 80 ms before another CMD
|
||||
#define BMI160_SOFT_RESET 0xB6
|
||||
|
||||
#define BMI160_ACCEL_DEFAULT_RANGE_G 16
|
||||
#define BMI160_GYRO_DEFAULT_RANGE_DPS 2000
|
||||
#define BMI160_ACCEL_DEFAULT_RATE 800
|
||||
#define BMI160_ACCEL_MAX_RATE 1600
|
||||
#define BMI160_ACCEL_MAX_PUBLISH_RATE 280
|
||||
#define BMI160_GYRO_DEFAULT_RATE 800
|
||||
#define BMI160_GYRO_MAX_RATE 3200
|
||||
#define BMI160_GYRO_MAX_PUBLISH_RATE BMI160_ACCEL_MAX_PUBLISH_RATE
|
||||
|
||||
#define BMI160_BUS_SPEED 10*1000*1000
|
||||
|
||||
#define BMI160_TIMER_REDUCTION 200
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
class BMI160 : public device::SPI, public I2CSPIDriver<BMI160>
|
||||
{
|
||||
public:
|
||||
BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
|
||||
spi_mode_e spi_mode);
|
||||
virtual ~BMI160();
|
||||
|
||||
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
int runtime_instance);
|
||||
static void print_usage();
|
||||
int init() override;
|
||||
void print_status() override;
|
||||
void RunImpl();
|
||||
|
||||
private:
|
||||
int probe() override;
|
||||
|
||||
PX4Accelerometer _px4_accel;
|
||||
PX4Gyroscope _px4_gyro;
|
||||
|
||||
uint8_t _whoami; ///< whoami result
|
||||
|
||||
unsigned _dlpf_freq;
|
||||
|
||||
float _accel_sample_rate{BMI160_ACCEL_DEFAULT_RATE};
|
||||
float _gyro_sample_rate{BMI160_GYRO_DEFAULT_RATE};
|
||||
|
||||
perf_counter_t _accel_reads;
|
||||
perf_counter_t _gyro_reads;
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _bad_transfers;
|
||||
perf_counter_t _bad_registers;
|
||||
perf_counter_t _good_transfers;
|
||||
perf_counter_t _reset_retries;
|
||||
perf_counter_t _duplicates;
|
||||
|
||||
uint8_t _register_wait{0};
|
||||
uint64_t _reset_wait{0};
|
||||
|
||||
// this is used to support runtime checking of key
|
||||
// configuration registers to detect SPI bus errors and sensor
|
||||
// reset
|
||||
static constexpr int BMI160_NUM_CHECKED_REGISTERS{10};
|
||||
static const uint8_t _checked_registers[BMI160_NUM_CHECKED_REGISTERS];
|
||||
uint8_t _checked_values[BMI160_NUM_CHECKED_REGISTERS];
|
||||
uint8_t _checked_bad[BMI160_NUM_CHECKED_REGISTERS];
|
||||
uint8_t _checked_next{0};
|
||||
|
||||
// keep last accel reading for duplicate detection
|
||||
uint16_t _last_accel[3] {};
|
||||
bool _got_duplicate{false};
|
||||
|
||||
/**
|
||||
* Start automatic measurement.
|
||||
*/
|
||||
void start();
|
||||
|
||||
/**
|
||||
* Reset chip.
|
||||
*
|
||||
* Resets the chip and measurements ranges, but not scale and offset.
|
||||
*/
|
||||
int reset();
|
||||
|
||||
/**
|
||||
* Read a register from the BMI160
|
||||
*
|
||||
* @param The register to read.
|
||||
* @return The value that was read.
|
||||
*/
|
||||
uint8_t read_reg(uint8_t reg);
|
||||
|
||||
/**
|
||||
* Write a register in the BMI160
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
* @return OK on success, negative errno otherwise.
|
||||
*/
|
||||
int write_reg(uint8_t reg, uint8_t value);
|
||||
|
||||
/**
|
||||
* Modify a register in the BMI160
|
||||
*
|
||||
* Bits are cleared before bits are set.
|
||||
*
|
||||
* @param reg The register to modify.
|
||||
* @param clearbits Bits in the register to clear.
|
||||
* @param setbits Bits in the register to set.
|
||||
*/
|
||||
void modify_reg(uint8_t reg, uint8_t clearbits, uint8_t setbits);
|
||||
|
||||
/**
|
||||
* Write a register in the BMI160, updating _checked_values
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
*/
|
||||
void write_checked_reg(uint8_t reg, uint8_t value);
|
||||
|
||||
/**
|
||||
* Set the BMI160 measurement range.
|
||||
*
|
||||
* @param max_g The maximum G value the range must support.
|
||||
* @param max_dps The maximum DPS value the range must support.
|
||||
* @return OK if the value can be supported, -ERANGE otherwise.
|
||||
*/
|
||||
int set_accel_range(unsigned max_g);
|
||||
int set_gyro_range(unsigned max_dps);
|
||||
|
||||
/*
|
||||
set sample rate (approximate) - 10 - 952 Hz
|
||||
*/
|
||||
int accel_set_sample_rate(float desired_sample_rate_hz);
|
||||
int gyro_set_sample_rate(float desired_sample_rate_hz);
|
||||
/*
|
||||
check that key registers still have the right value
|
||||
*/
|
||||
void check_registers();
|
||||
|
||||
#pragma pack(push, 1)
|
||||
/**
|
||||
* Report conversation within the BMI160, including command byte and
|
||||
* interrupt status.
|
||||
*/
|
||||
struct BMIReport {
|
||||
uint8_t cmd;
|
||||
int16_t gyro_x;
|
||||
int16_t gyro_y;
|
||||
int16_t gyro_z;
|
||||
int16_t accel_x;
|
||||
int16_t accel_y;
|
||||
int16_t accel_z;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
};
|
||||
@@ -1,107 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "bmi160.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
void
|
||||
BMI160::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("bmi160", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
I2CSPIDriverBase *BMI160::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
int runtime_instance)
|
||||
{
|
||||
BMI160 *instance = new BMI160(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
|
||||
cli.bus_frequency, cli.spi_mode);
|
||||
|
||||
if (!instance) {
|
||||
PX4_ERR("alloc failed");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (OK != instance->init()) {
|
||||
delete instance;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
return instance;
|
||||
}
|
||||
|
||||
extern "C" int bmi160_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
using ThisDriver = BMI160;
|
||||
BusCLIArguments cli{false, true};
|
||||
cli.default_spi_frequency = BMI160_BUS_SPEED;
|
||||
|
||||
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
cli.rotation = (enum Rotation)atoi(cli.optarg());
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = cli.optarg();
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_BMI160);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
Reference in New Issue
Block a user